diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp
index 8e617bdb63..b96f9c63c5 100644
--- a/src/modules/ekf2/EKF/ekf.cpp
+++ b/src/modules/ekf2/EKF/ekf.cpp
@@ -335,9 +335,11 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 
 		const bool innov_rejected = (test_ratio > 1.f);
 
-		if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected) {
-			// when on ground or accuracy chosen to be very low, we hard reset position
+		if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected || isHorizontalPositionAidingActive()) {
+			// When on ground or accuracy chosen to be very low, we hard reset position
 			// this allows the user to still send hard resets at any time
+			// Also reset when another position source is active as it it would otherwise have almost no
+			// visible effect to the position estimate.
 			ECL_INFO("reset position to external observation");
 			_information_events.flags.reset_pos_to_ext_obs = true;
 
diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index 9e0ebec771..7acdc5505b 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -622,6 +622,11 @@ int EstimatorInterface::getNumberOfActiveHorizontalPositionAidingSources() const
 	       + int(_control_status.flags.aux_gpos);
 }
 
+bool EstimatorInterface::isHorizontalPositionAidingActive() const
+{
+	return getNumberOfActiveHorizontalPositionAidingSources() > 0;
+}
+
 int EstimatorInterface::getNumberOfActiveHorizontalVelocityAidingSources() const
 {
 	return int(_control_status.flags.gnss_vel)
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index 56e8334fba..43e6dca48c 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -231,6 +231,7 @@ public:
 	// Return true if at least one source of horizontal aiding is active
 	// the flags considered are opt_flow, gps, ev_vel and ev_pos
 	bool isHorizontalAidingActive() const;
+	bool isHorizontalPositionAidingActive() const;
 	bool isVerticalAidingActive() const;
 	bool isNorthEastAidingActive() const;
 
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 785f5565f4..f70eca2b39 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -531,10 +531,9 @@ void EKF2::Run()
 
 			} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE) {
 
-				if ((_ekf.control_status_flags().wind_dead_reckoning || _ekf.control_status_flags().inertial_dead_reckoning
-				     || (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gnss_pos))
-				    && PX4_ISFINITE(vehicle_command.param2)
-				    && PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
+				if (PX4_ISFINITE(vehicle_command.param2)
+				    && PX4_ISFINITE(vehicle_command.param5)
+				    && PX4_ISFINITE(vehicle_command.param6)
 				   ) {
 
 					const float measurement_delay_seconds = math::constrain(vehicle_command.param2, 0.0f,